version: 66.06
glider: 523
mission: 4
dive: 590
start: 6 28 113 23 13 41
data:
$ID,523
$MISSION,4
$DIVE,590
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,520
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51859
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2118.95
$TGT_DEFAULT_LON,-15758
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-47828.551
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,70
$PITCH_MAX,3840
$C_PITCH,2640
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3847
$ROLL_DEG,40
$C_ROLL_DIVE,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.423622
$PRESSURE_SLOPE,0.00011597706
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042940481
$SEABIRD_T_H,0.00062789384
$SEABIRD_T_I,2.2877364e-05
$SEABIRD_T_J,2.3382993e-06
$SEABIRD_C_G,-10.032345
$SEABIRD_C_H,1.1112347
$SEABIRD_C_I,0.0036120038
$SEABIRD_C_J,-0.00017978948
$GPS1,230734,2110.284,-15751.018,26,1.0,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.8
$GPS2,231325,2110.249,-15751.018,20,1.3,20,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,110.6,16228,-16.7,-9.036
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-82.43,0.000,2,0.000,0.000,27,1968,3388,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.2,-4.6,13,118,9.60,0.00,0.00,0.000,6,0.224,0.000,2392,1968,3390,0,0,0,0,0,0
$GC,278,-0.74,-146.0,32.8,-15.0,45,284,0.00,2.33,0.00,0.000,4,0.000,0.059,2392,537,3391,0,0,0,0,0,0
$GC,360,-0.74,-146.0,46.1,-16.0,60,367,0.00,2.22,0.00,0.000,6,0.000,0.037,2384,1955,3391,0,0,0,0,0,0
$GC,700,-0.74,-146.0,87.6,-11.2,116,704,0.00,2.25,0.00,0.000,4,0.000,0.056,2385,547,3393,0,0,0,0,0,0
$GC,903,-0.74,-146.0,109.2,-10.5,134,910,0.00,2.20,0.00,0.000,6,0.000,0.037,2375,1972,3393,0,0,0,0,0,0
$GC,1238,-0.74,-146.0,141.9,-8.3,165,1242,0.00,2.30,0.00,0.000,4,0.000,0.055,2375,547,3394,0,0,0,0,0,0
$GC,1489,-0.74,-146.0,162.1,-8.6,187,1494,0.12,2.17,0.00,0.000,6,0.160,0.036,2398,1961,3394,0,0,0,0,0,0
$GC,1817,-0.74,-146.0,187.6,-7.5,217,1821,0.00,2.28,0.00,0.000,4,0.000,0.055,2398,545,3394,0,0,0,0,0,0
$GC,2072,-0.74,-146.0,207.0,-8.1,235,2077,0.00,2.15,0.00,0.000,6,0.000,0.036,2390,1958,3394,0,0,0,0,0,0
$GC,2390,-0.74,-146.0,232.7,-7.3,251,2394,0.00,2.28,0.00,0.000,4,0.000,0.056,2390,544,3395,0,0,0,0,0,0
$GC,2547,-0.74,-146.0,243.7,-7.0,258,2551,0.00,2.15,0.00,0.000,6,0.000,0.037,2380,1956,3395,0,0,0,0,0,0
$GC,2872,-0.74,-146.0,263.8,-5.6,274,2876,0.00,2.33,0.00,0.000,4,0.000,0.056,2380,547,3394,0,0,0,0,0,0
$GC,2938,-0.74,-146.0,268.2,-5.9,277,2943,0.12,2.17,0.00,0.000,6,0.160,0.038,2404,1957,3394,0,0,0,0,0,0
$GC,3267,-0.74,-146.0,287.1,-6.7,293,3272,0.00,2.33,0.00,0.000,4,0.000,0.058,2404,539,3394,0,0,0,0,0,0
$GC,3498,-0.74,-146.0,304.5,-6.5,302,3502,0.00,2.20,0.00,0.000,6,0.000,0.038,2396,1958,3393,0,0,0,0,0,0
$GC,3814,-0.74,-146.0,320.9,-4.8,310,3818,0.00,2.28,0.00,0.000,4,0.000,0.062,2386,3368,3392,0,0,0,0,0,0
$GC,3847,-0.74,-146.0,322.5,-4.7,310,3853,0.00,2.25,0.00,0.000,6,0.000,0.047,2386,1953,3391,0,0,0,0,0,0
$GC,4180,-0.74,-146.0,341.3,-6.5,319,4184,0.00,2.28,0.00,0.000,4,0.000,0.063,2386,539,3390,0,0,0,0,0,0
$GC,4326,-0.74,-146.0,352.6,-7.5,322,4330,0.00,2.20,0.00,0.000,6,0.000,0.039,2377,1956,3389,0,0,0,0,0,0
$GC,4675,-0.74,-146.0,373.0,-5.4,331,4680,0.00,2.33,0.00,0.000,4,0.000,0.060,2377,538,3388,0,0,0,0,0,0
$GC,4917,-0.74,-146.0,389.7,-8.3,336,4925,0.12,2.22,0.00,0.000,6,0.156,0.040,2400,1964,3386,0,0,0,0,0,0
$GC,5270,-0.74,-146.0,410.6,-5.4,345,5275,0.00,2.30,0.00,0.000,4,0.000,0.061,2400,548,3384,0,0,0,0,0,0
$GC,5333,-0.74,-146.0,414.6,-6.3,346,5337,0.00,2.20,0.00,0.000,6,0.000,0.041,2393,1960,3384,0,0,0,0,0,0
$STATE,5436,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5437,begin apogee
$GC,5443,-0.17,0.0,420.9,6.0,349,5566,0.60,0.00,120.45,0.734,6,0.114,0.000,2585,1959,2800,0,0,0,0,0,0
$STATE,5567,end apogee,CONTROL_FINISHED_OK
$STATE,5567,begin climb
$GC,5570,0.74,146.0,423.0,0.0,352,5708,0.82,2.42,126.88,0.712,4,0.080,0.061,2870,3376,2202,0,0,0,0,0,0
$GC,5787,0.74,146.0,401.2,13.3,357,5791,0.00,2.30,0.00,0.000,6,0.000,0.048,2879,1980,2199,0,0,0,0,0,0
$GC,6106,0.74,146.0,362.3,12.0,365,6110,0.00,2.33,0.00,0.000,4,0.000,0.065,2890,566,2196,0,0,0,0,0,0
$GC,6127,0.74,146.0,359.5,11.4,365,6131,0.00,2.25,0.00,0.000,6,0.000,0.039,2890,1993,2196,0,0,0,0,0,0
$GC,6463,0.74,146.0,320.3,11.8,374,6467,0.00,2.25,0.00,0.000,4,0.000,0.061,2890,3386,2194,0,0,0,0,0,0
$GC,6581,0.74,146.0,304.3,13.1,376,6585,0.00,2.25,0.00,0.000,6,0.000,0.047,2899,1980,2193,0,0,0,0,0,0
$GC,6896,0.74,146.0,266.3,11.9,390,6900,0.00,2.28,0.00,0.000,4,0.000,0.060,2900,3382,2193,0,0,0,0,0,0
$GC,6958,0.74,146.0,258.1,13.6,392,6964,0.12,2.25,0.00,0.000,6,0.148,0.048,2874,1978,2192,0,0,0,0,0,0
$GC,7273,0.74,146.0,225.3,9.9,408,7278,0.00,2.30,0.00,0.000,4,0.000,0.061,2873,3385,2190,0,0,0,0,0,0
$GC,7346,0.74,146.0,217.2,11.9,411,7350,0.00,2.28,0.00,0.000,6,0.000,0.050,2881,1969,2189,0,0,0,0,0,0
$GC,7670,0.77,172.5,188.6,7.9,432,7697,0.00,2.35,21.90,0.593,4,0.000,0.061,2881,3398,2095,0,0,0,0,0,0
$GC,7806,0.77,172.5,175.1,11.0,444,7813,0.00,2.33,0.00,0.000,6,0.000,0.050,2889,1977,2093,0,0,0,0,0,0
$GC,8134,0.77,172.5,144.0,9.1,475,8138,0.00,2.30,0.00,0.000,4,0.000,0.062,2889,3385,2091,0,0,0,0,0,0
$GC,8164,0.77,172.5,141.0,9.9,477,8168,0.00,2.28,0.00,0.000,6,0.000,0.051,2896,1974,2091,0,0,0,0,0,0
$GC,8492,0.77,172.5,109.9,9.2,507,8496,0.00,2.30,0.00,0.000,4,0.000,0.061,2896,3382,2091,0,0,0,0,0,0
$GC,8532,0.77,172.5,106.1,9.3,510,8536,0.00,2.28,0.00,0.000,6,0.000,0.052,2905,1971,2091,0,0,0,0,0,0
$GC,8860,0.79,192.6,78.6,8.2,541,8884,0.00,0.00,18.10,0.492,6,0.000,0.000,2905,1972,2012,0,0,0,0,0,0
$GC,9215,0.82,215.7,48.6,8.1,605,9239,0.00,0.00,20.92,0.468,6,0.000,0.000,2905,1972,1920,0,0,0,0,0,0
$GC,9565,0.86,242.9,21.1,7.9,669,9599,0.00,2.33,24.70,0.446,4,0.000,0.061,2905,3378,1808,0,0,0,0,0,0
$GC,9649,0.86,242.9,13.6,9.6,683,9657,0.00,2.28,0.00,0.000,6,0.000,0.049,2905,1980,1807,0,0,0,0,0,0
$STATE,9793,end climb,SURFACE_DEPTH_REACHED
$STATE,9796,begin surface coast
$FINISH,0.8,1.023138
$STATE,9844,end surface coast,CONTROL_FINISHED_OK
$STATE,9844,begin surface
$SM_CCo,9862,28.00,0.423,0,0,1576,300.24
$SM_GC,1.29,0.00,0.00,28.00,0.000,0.000,0.423,48,1976,1576,-8.10,0.54,300.24
$IRIDIUM_FIX,2059.45,-15750.89,220902,202043
$TT8_MAMPS,0.027612
$HUMID,65.67
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.4,50.415
$10V_AH,10.2,55.135
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.825,90.725,332.950,28.000,0.000,28.321,33.693,146.706,17.750,0.000,21.035,1314.616,5545.145,399.533,2485.895,490.574,0.000,1273.010,0.000,2436.362,0.000,107.971,0.000
$DEVICE_MAMPS,223.964,65.195,734.019,423.384,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,488.215,429.465,1460.071,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,41187,719
$CAP_FILE_SIZE,109766,0
$CFSIZE,260165632,226398208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290613,015934,2109.732,-15749.323,24,1.0,24,9.8